2A2-J01 形状記憶ポリマーを用いた湾曲型空気圧ゴム人工筋の開発(アクチュエータの機構と制御)

概要

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A conventional curved type pneumatic rubber artificial muscle is composed of an internal bladder covered with a bellows sleeve extending axially. By inhibiting the extension of one side with a fiber reinforcement, bending motion occurs when an air is supplied into the bladder. In this study, we developed a new actuator by replacing the fiber reinforcement with shape-memory polymers (SMPs). SMPs can be deformed above their glass transition temperature (T_g). They maintain their shape in a rigid form after they have been cooled below T_g. When next heated above T_g, they return to the initial shape. When only part of our actuator is wanned above T_g, only that portion of the SMP is soft and can actuate. Therefore, the direction of the motion can be controlled by heating. Moreover, our actuator can be deformed by an external force above T_g and fixed as its initial shape below T_g.
一般社団法人日本機械学会の論文
2011-05-26